def params(self, n_state: int, n_ctrl: int, horizon: int,
seed: int) -> Quadratic:
n_tau = n_state + n_ctrl
Q = random_spd_matrix(size=n_tau, horizon=horizon, rng=seed)
q = random_normal_vector(size=n_tau, horizon=horizon, rng=seed)
c = random_normal_vector(size=1, horizon=horizon,
rng=seed).squeeze("R")
return Q, q, c
def reset_parameters(self):
"""Standard parameter initialization."""
n_tau, horizon = self.n_tau, self.horizon
self.quad.data.copy_(random_spd_matrix(size=n_tau, horizon=horizon))
self.linear.data.copy_(
random_normal_vector(size=n_tau, horizon=horizon))
nn.init.uniform_(self.const, -1, 1)
def params(self, n_state: int, horizon: int, seed: int) -> Quadratic:
V = random_spd_matrix(size=n_state, horizon=horizon + 1, rng=seed)
v = random_normal_vector(size=n_state, horizon=horizon + 1, rng=seed)
c = random_normal_vector(size=1, horizon=horizon + 1,
rng=seed).squeeze("R")
return V, v, c
def reset_parameters(self):
"""Default parameter initialization."""
self.C.data.copy_(random_spd_matrix(self.n_tau, horizon=self.horizon))
self.c.data.copy_(
random_normal_vector(self.n_tau, horizon=self.horizon))